Improvement of learning efficiency by exploiting multiarticular muscles - A case study with a 2D serpentine robot

Wataru Watanabe, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This study is intended to deal with the interdependency between control and body systems, and to discuss the "brain-body interaction as it should be" particularly from the viewpoint of learning, by borrowing the idea from the "protein folding problem". As a practical example, we demonstrate decentralized control of a 2D serpentine robot consisting of several identical body segments. The preliminary results derived indicate that the convergence of decentralized learning of locomotion control can be significantly improved even with an extremely simple learning algorithm, i.e., a gradient method, by introducing biarticular muscles compared to the one only with monoarticular muscles. This strongly suggests the fact that a certain amount of computation should be offloaded from brain to its body, which allows robots to emerge various interesting functionalities.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages2155-2160
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: 2007 Sep 172007 Sep 20

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period07/9/1707/9/20

Keywords

  • Brain-body interaction
  • Emergence
  • Learning
  • Morphological computation
  • Multiarticular muscles

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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